Rolling-Shutter Camera and Rotating LiDAR Synchronization for Parallax
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Solution Overview
Problem
Systems employing cameras and LIDAR devices experience image processing complications due to parallax, particularly static and motion-induced parallax, which complicates image processing and conflates imagery of moving objects and occlusions.
Innovation Solution
An image capture system synchronizes the operation of a rotating LIDAR device with multiple cameras having rolling shutter sensors by adjusting the rotation rate, clock speed, or using position signals to align image captures, ensuring precise synchronization and minimizing parallax.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If cameras operate independently with significant physical separation from the LIDAR device, then each camera can capture images on its own schedule, but this introduces static parallax and motion-induced parallax that complicate image processing
Solution Approach 1:
The patent combines the operation schedules of independently operating cameras with the LIDAR device by using a common trigger signal. The trigger signal synchronizes the image capture timing of multiple cameras with the LIDAR scanning cycles, allowing independent cameras to operate on a coordinated schedule that eliminates parallax effects while maintaining operational independence.
Solution Approach 2:
The system uses feedback from the LIDAR device's angular position to trigger camera captures. The LIDAR device provides angular position information that feeds back to the camera control system, enabling precise timing coordination that accounts for the physical separation between cameras and LIDAR while maintaining image alignment accuracy.
2Productivity
If cameras capture images at different times, then each camera can operate on its own schedule, but motion introduces motion-induced parallax that complicates image processing
Solution Approach 1:
The patent implements periodic action by synchronizing camera captures with the LIDAR scanning cycles using periodic trigger signals. The cameras capture images at regular intervals that correspond to the LIDAR's rotational period, ensuring that all sensors capture data from the same scene state. This periodic synchronization maintains image coherence while allowing cameras to operate efficiently on their own schedules within the coordinated framework.
3Adaptability or versatility
If the LIDAR device rotates to face different directions, then it can capture images of the environment comprehensively, but synchronizing multiple cameras with different facing directions becomes complex
Solution Approach 1:
The patent applies universality by using a single common trigger signal that serves all cameras simultaneously, regardless of their different facing directions. The trigger signal is generated based on the LIDAR's angular position and universally applied to synchronize all cameras in the system. This universal synchronization approach simplifies the system architecture while maintaining comprehensive environmental coverage across multiple camera viewpoints.
Data Source
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AI summary
An image capture system includes a light detection and ranging (LIDAR) device which captures images of an environment while rotating and a plurality of cameras, disposed separately from the LIDAR device, each including a rolling shutter sensor and each capturing images of the environment. The plurality of cameras include a first camera disposed to face in a first direction and a second camera disposed to face in a second direction. A time at which the first camera captures a first image is synchronized with a time at which the LIDAR device captures a second image when the LIDAR device rotates to face in the first direction, and a time at which the second camera captures a third image is synchronized with a time at which the LIDAR device captures a fourth image when the LIDAR device rotates to face in the second direction.